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[Home](./index.md) > [server](./server.md) > [RigidBody](./server.rigidbody.md) ## RigidBody class Represents a rigid body in a world's physics simulation. **Signature:** ```typescript export default class RigidBody extends EventRouter ``` **Extends:** [EventRouter](./server.eventrouter.md) ## Remarks Rigid bodies are the core of the physics simulation. They are used to represent physical objects (IE: entities) that can interact with each other. ## Constructors <table><thead><tr><th> Constructor </th><th> Modifiers </th><th> Description </th></tr></thead> <tbody><tr><td> [(constructor)(options)](./server.rigidbody._constructor_.md) </td><td> </td><td> Constructs a new instance of the `RigidBody` class </td></tr> </tbody></table> ## Properties <table><thead><tr><th> Property </th><th> Modifiers </th><th> Type </th><th> Description </th></tr></thead> <tbody><tr><td> [additionalMass](./server.rigidbody.additionalmass.md) </td><td> `readonly` </td><td> number </td><td> The additional mass of the rigid body. </td></tr> <tr><td> [additionalSolverIterations](./server.rigidbody.additionalsolveriterations.md) </td><td> `readonly` </td><td> number </td><td> The additional solver iterations of the rigid body. </td></tr> <tr><td> [angularDamping](./server.rigidbody.angulardamping.md) </td><td> `readonly` </td><td> number </td><td> The angular damping of the rigid body. </td></tr> <tr><td> [angularVelocity](./server.rigidbody.angularvelocity.md) </td><td> `readonly` </td><td> [Vector3Like](./server.vector3like.md) </td><td> The angular velocity of the rigid body. </td></tr> <tr><td> [colliders](./server.rigidbody.colliders.md) </td><td> `readonly` </td><td> Set<[Collider](./server.collider.md)> </td><td> The colliders of the rigid body. </td></tr> <tr><td> [directionFromRotation](./server.rigidbody.directionfromrotation.md) </td><td> `readonly` </td><td> [Vector3Like](./server.vector3like.md) </td><td> The direction from the rotation of the rigid body. (-Z identity) </td></tr> <tr><td> [dominanceGroup](./server.rigidbody.dominancegroup.md) </td><td> `readonly` </td><td> number </td><td> The dominance group of the rigid body. </td></tr> <tr><td> [effectiveAngularInertia](./server.rigidbody.effectiveangularinertia.md) </td><td> `readonly` </td><td> [SpdMatrix3](./server.spdmatrix3.md) \| undefined </td><td> The effective angular inertia of the rigid body. </td></tr> <tr><td> [effectiveInverseMass](./server.rigidbody.effectiveinversemass.md) </td><td> `readonly` </td><td> [Vector3Like](./server.vector3like.md) \| undefined </td><td> The effective inverse mass of the rigid body. </td></tr> <tr><td> [effectiveWorldInversePrincipalAngularInertiaSqrt](./server.rigidbody.effectiveworldinverseprincipalangularinertiasqrt.md) </td><td> `readonly` </td><td> [SpdMatrix3](./server.spdmatrix3.md) \| undefined </td><td> The effective world inverse principal angular inertia square root of the rigid body. </td></tr> <tr><td> [enabledPositions](./server.rigidbody.enabledpositions.md) </td><td> `readonly` </td><td> [Vector3Boolean](./server.vector3boolean.md) </td><td> The enabled axes of positional movement of the rigid body. </td></tr> <tr><td> [enabledRotations](./server.rigidbody.enabledrotations.md) </td><td> `readonly` </td><td> [Vector3Boolean](./server.vector3boolean.md) </td><td> The enabled axes of rotational movement of the rigid body. </td></tr> <tr><td> [gravityScale](./server.rigidbody.gravityscale.md) </td><td> `readonly` </td><td> number </td><td> The gravity scale of the rigid body. </td></tr> <tr><td> [inverseMass](./server.rigidbody.inversemass.md) </td><td> `readonly` </td><td> number \| undefined </td><td> The inverse mass of the rigid body. </td></tr> <tr><td> [inversePrincipalAngularInertiaSqrt](./server.rigidbody.inverseprincipalangularinertiasqrt.md) </td><td> `readonly` </td><td> [Vector3Like](./server.vector3like.md) \| undefined </td><td> The inverse principal angular inertia square root of the rigid body. </td></tr> <tr><td> [isCcdEnabled](./server.rigidbody.isccdenabled.md) </td><td> `readonly` </td><td> boolean </td><td> Whether the rigid body has continuous collision detection enabled. </td></tr> <tr><td> [isDynamic](./server.rigidbody.isdynamic.md) </td><td> `readonly` </td><td> boolean </td><td> Whether the rigid body is dynamic. </td></tr> <tr><td> [isEnabled](./server.rigidbody.isenabled.md) </td><td> `readonly` </td><td> boolean </td><td> Whether the rigid body is enabled. </td></tr> <tr><td> [isFixed](./server.rigidbody.isfixed.md) </td><td> `readonly` </td><td> boolean </td><td> Whether the rigid body is fixed. </td></tr> <tr><td> [isKinematic](./server.rigidbody.iskinematic.md) </td><td> `readonly` </td><td> boolean </td><td> Whether the rigid body is kinematic. </td></tr> <tr><td> [isKinematicPositionBased](./server.rigidbody.iskinematicpositionbased.md) </td><td> `readonly` </td><td> boolean </td><td> Whether the rigid body is kinematic position based. </td></tr> <tr><td> [isKinematicVelocityBased](./server.rigidbody.iskinematicvelocitybased.md) </td><td> `readonly` </td><td> boolean </td><td> Whether the rigid body is kinematic velocity based. </td></tr> <tr><td> [isMoving](./server.rigidbody.ismoving.md) </td><td> `readonly` </td><td> boolean </td><td> Whether the rigid body is moving. </td></tr> <tr><td> [isRemoved](./server.rigidbody.isremoved.md) </td><td> `readonly` </td><td> boolean </td><td> Whether the rigid body has been removed from the simulation. </td></tr> <tr><td> [isSimulated](./server.rigidbody.issimulated.md) </td><td> `readonly` </td><td> boolean </td><td> Whether the rigid body is simulated. </td></tr> <tr><td> [isSleeping](./server.rigidbody.issleeping.md) </td><td> `readonly` </td><td> boolean </td><td> Whether the rigid body is sleeping. </td></tr> <tr><td> [linearDamping](./server.rigidbody.lineardamping.md) </td><td> `readonly` </td><td> number </td><td> The linear damping of the rigid body. </td></tr> <tr><td> [linearVelocity](./server.rigidbody.linearvelocity.md) </td><td> `readonly` </td><td> [Vector3Like](./server.vector3like.md) </td><td> The linear velocity of the rigid body. </td></tr> <tr><td> [localCenterOfMass](./server.rigidbody.localcenterofmass.md) </td><td> `readonly` </td><td> [Vector3Like](./server.vector3like.md) </td><td> The local center of mass of the rigid body. </td></tr> <tr><td> [mass](./server.rigidbody.mass.md) </td><td> `readonly` </td><td> number </td><td> The mass of the rigid body. </td></tr> <tr><td> [nextKinematicPosition](./server.rigidbody.nextkinematicposition.md) </td><td> `readonly` </td><td> [Vector3Like](./server.vector3like.md) </td><td> The next kinematic position of the rigid body. </td></tr> <tr><td> [nextKinematicRotation](./server.rigidbody.nextkinematicrotation.md) </td><td> `readonly` </td><td> [QuaternionLike](./server.quaternionlike.md) </td><td> The next kinematic rotation of the rigid body. </td></tr> <tr><td> [numColliders](./server.rigidbody.numcolliders.md) </td><td> `readonly` </td><td> number </td><td> The number of colliders in the rigid body. </td></tr> <tr><td> [position](./server.rigidbody.position.md) </td><td> `readonly` </td><td> [Vector3Like](./server.vector3like.md) </td><td> The position of the rigid body. </td></tr> <tr><td> [principalAngularInertia](./server.rigidbody.principalangularinertia.md) </td><td> `readonly` </td><td> [Vector3Like](./server.vector3like.md) </td><td> The principal angular inertia of the rigid body. </td></tr> <tr><td> [principalAngularInertiaLocalFrame](./server.rigidbody.principalangularinertialocalframe.md) </td><td> `readonly` </td><td> [QuaternionLike](./server.quaternionlike.md) \| undefined </td><td> The principal angular inertia local frame of the rigid body. </td></tr> <tr><td> [rawRigidBody](./server.rigidbody.rawrigidbody.md) </td><td> `readonly` </td><td> RAPIER.RigidBody \| undefined </td><td> The raw RAPIER rigid body instance. </td></tr> <tr><td> [rotation](./server.rigidbody.rotation.md) </td><td> `readonly` </td><td> [QuaternionLike](./server.quaternionlike.md) </td><td> The rotation of the rigid body. </td></tr> <tr><td> [softCcdPrediction](./server.rigidbody.softccdprediction.md) </td><td> `readonly` </td><td> number </td><td> The soft continuous collision detection prediction of the rigid body. </td></tr> <tr><td> [type](./server.rigidbody.type.md) </td><td> `readonly` </td><td> [RigidBodyType](./server.rigidbodytype.md) </td><td> The type of the rigid body. </td></tr> <tr><td> [worldCenterOfMass](./server.rigidbody.worldcenterofmass.md) </td><td> `readonly` </td><td> [Vector3Like](./server.vector3like.md) \| undefined </td><td> The world center of mass of the rigid body. </td></tr> </tbody></table> ## Methods <table><thead><tr><th> Method </th><th> Modifiers </th><th> Description </th></tr></thead> <tbody><tr><td> [addChildColliderToSimulation(collider)](./server.rigidbody.addchildcollidertosimulation.md) </td><td> </td><td> Adds an unsimulated child collider to the rigid body for the simulation it belongs to. </td></tr> <tr><td> [addForce(force)](./server.rigidbody.addforce.md) </td><td> </td><td> Adds a force to the rigid body. </td></tr> <tr><td> [addTorque(torque)](./server.rigidbody.addtorque.md) </td><td> </td><td> Adds a torque to the rigid body. </td></tr> <tr><td> [addToSimulation(simulation)](./server.rigidbody.addtosimulation.md) </td><td> </td><td> Adds the rigid body to a simulation. </td></tr> <tr><td> [applyImpulse(impulse)](./server.rigidbody.applyimpulse.md) </td><td> </td><td> Applies an impulse to the rigid body. </td></tr> <tr><td> [applyImpulseAtPoint(impulse, point)](./server.rigidbody.applyimpulseatpoint.md) </td><td> </td><td> Applies an impulse to the rigid body at a point. </td></tr> <tr><td> [applyTorqueImpulse(impulse)](./server.rigidbody.applytorqueimpulse.md) </td><td> </td><td> Applies a torque impulse to the rigid body. </td></tr> <tr><td> [createAndAddChildCollider(colliderOptions)](./server.rigidbody.createandaddchildcollider.md) </td><td> </td><td> Creates and adds a child collider to the rigid body for the simulation it belongs to. </td></tr> <tr><td> [createAndAddChildColliders(colliderOptions)](./server.rigidbody.createandaddchildcolliders.md) </td><td> </td><td> Creates and adds multiple child colliders to the rigid body for the simulation it belongs to. </td></tr> <tr><td> [getCollidersByTag(tag)](./server.rigidbody.getcollidersbytag.md) </td><td> </td><td> Gets the colliders of the rigid body by tag. </td></tr> <tr><td> [lockAllPositions()](./server.rigidbody.lockallpositions.md) </td><td> </td><td> Locks all positional movement of the rigid body. </td></tr> <tr><td> [lockAllRotations()](./server.rigidbody.lockallrotations.md) </td><td> </td><td> Locks all rotations of the rigid body. </td></tr> <tr><td> [removeFromSimulation()](./server.rigidbody.removefromsimulation.md) </td><td> </td><td> Removes the rigid body from the simulation it belongs to. </td></tr> <tr><td> [resetAngularVelocity()](./server.rigidbody.resetangularvelocity.md) </td><td> </td><td> Resets the angular velocity of the rigid body. </td></tr> <tr><td> [resetForces()](./server.rigidbody.resetforces.md) </td><td> </td><td> Resets the forces actiong on the rigid body. </td></tr> <tr><td> [resetLinearVelocity()](./server.rigidbody.resetlinearvelocity.md) </td><td> </td><td> Resets the linear velocity of the rigid body. </td></tr> <tr><td> [resetTorques()](./server.rigidbody.resettorques.md) </td><td> </td><td> Resets the torques acting on the rigid body. </td></tr> <tr><td> [setAdditionalMass(additionalMass)](./server.rigidbody.setadditionalmass.md) </td><td> </td><td> Sets the additional mass of the rigid body. </td></tr> <tr><td> [setAdditionalMassProperties(additionalMassProperties)](./server.rigidbody.setadditionalmassproperties.md) </td><td> </td><td> Sets the additional mass properties of the rigid body. </td></tr> <tr><td> [setAdditionalSolverIterations(solverIterations)](./server.rigidbody.setadditionalsolveriterations.md) </td><td> </td><td> Sets the additional solver iterations of the rigid body. </td></tr> <tr><td> [setAngularDamping(angularDamping)](./server.rigidbody.setangulardamping.md) </td><td> </td><td> Sets the angular damping of the rigid body. </td></tr> <tr><td> [setAngularVelocity(angularVelocity)](./server.rigidbody.setangularvelocity.md) </td><td> </td><td> Sets the angular velocity of the rigid body. </td></tr> <tr><td> [setCcdEnabled(ccdEnabled)](./server.rigidbody.setccdenabled.md) </td><td> </td><td> Sets whether the rigid body has continuous collision detection enabled. </td></tr> <tr><td> [setCollisionGroupsForSensorColliders(collisionGroups)](./server.rigidbody.setcollisiongroupsforsensorcolliders.md) </td><td> </td><td> Sets the collision groups for sensor colliders of the rigid body. </td></tr> <tr><td> [setCollisionGroupsForSolidColliders(collisionGroups)](./server.rigidbody.setcollisiongroupsforsolidcolliders.md) </td><td> </td><td> Sets the collision groups for solid colliders (non-sensor) of the rigid body. </td></tr> <tr><td> [setDominanceGroup(dominanceGroup)](./server.rigidbody.setdominancegroup.md) </td><td> </td><td> Sets the dominance group of the rigid body. </td></tr> <tr><td> [setEnabled(enabled)](./server.rigidbody.setenabled.md) </td><td> </td><td> Sets whether the rigid body is enabled. </td></tr> <tr><td> [setEnabledPositions(enabledPositions)](./server.rigidbody.setenabledpositions.md) </td><td> </td><td> Sets whether the rigid body has enabled positional movement. </td></tr> <tr><td> [setEnabledRotations(enabledRotations)](./server.rigidbody.setenabledrotations.md) </td><td> </td><td> Sets whether the rigid body has enabled rotations. </td></tr> <tr><td> [setGravityScale(gravityScale)](./server.rigidbody.setgravityscale.md) </td><td> </td><td> Sets the gravity scale of the rigid body. </td></tr> <tr><td> [setLinearDamping(linearDamping)](./server.rigidbody.setlineardamping.md) </td><td> </td><td> Sets the linear damping of the rigid body. </td></tr> <tr><td> [setLinearVelocity(linearVelocity)](./server.rigidbody.setlinearvelocity.md) </td><td> </td><td> Sets the linear velocity of the rigid body. </td></tr> <tr><td> [setNextKinematicPosition(nextKinematicPosition)](./server.rigidbody.setnextkinematicposition.md) </td><td> </td><td> Sets the next kinematic position of the rigid body. </td></tr> <tr><td> [setNextKinematicRotation(nextKinematicRotation)](./server.rigidbody.setnextkinematicrotation.md) </td><td> </td><td> Sets the next kinematic rotation of the rigid body. </td></tr> <tr><td> [setPosition(position)](./server.rigidbody.setposition.md) </td><td> </td><td> Sets the position of the rigid body. </td></tr> <tr><td> [setRotation(rotation)](./server.rigidbody.setrotation.md) </td><td> </td><td> Sets the rotation of the rigid body. </td></tr> <tr><td> [setSleeping(sleeping)](./server.rigidbody.setsleeping.md) </td><td> </td><td> Sets whether the rigid body is sleeping. </td></tr> <tr><td> [setSoftCcdPrediction(softCcdPrediction)](./server.rigidbody.setsoftccdprediction.md) </td><td> </td><td> Sets the soft ccd prediction of the rigid body. </td></tr> <tr><td> [setType(type)](./server.rigidbody.settype.md) </td><td> </td><td> Sets the type of the rigid body. </td></tr> <tr><td> [sleep()](./server.rigidbody.sleep.md) </td><td> </td><td> Explicitly puts the rigid body to sleep. Physics otherwise optimizes sleeping. </td></tr> <tr><td> [wakeUp()](./server.rigidbody.wakeup.md) </td><td> </td><td> Wakes up the rigid body. Physics otherwise optimizes waking it when necessary. </td></tr> </tbody></table>